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本页介绍了get_sensor_value的用法, 包含当前所有传感器的类型，安装位置，触发状态等。 |
本页内容
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运行环境准备
软件平台
- Visual Studio 2010 SP1
- Slamware Windows SDK:Slamware Windows SDK
- RoboStudio(用于显示地图):Robostudio installer
Sample Code:
Info 使用更高版本的Visual Studio可能会带来编译异常。
使用Visual Studio 2010（无SP1）可能会因为无法与.Net Framework兼容而报编译错误，此时增加SP1更新包即可解决问题
硬件平台
（以下任选其一）
- Slamware SDP mini
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- Slamware 套装 （基于Slamware导航方案的用户机器人系统）
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- 打开samples工程，右键get_sensor_value, 将此工程设置成StartUp project
右键get_sensor_value, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程
Info
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Slamware SDK的include和lib目录无需复制到参考例程目录，只需在Visual Studio里指定路径即可。
- 右键get_sensor_value,
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- 在Debugging页面中command Arguments处输入 192.168.11.1
格式说明：get_sensor_value <IP address>
- 点击F5运行
- Console输出为(
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- 下图中,
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- sensor id为 1的bumper是触发状态，值为0)
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代码描述
代码功能说明： 获取传感器数据
Code Block language cpp firstline 1 title 获取传感器数据 linenumbers true
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SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(
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ip_address, 1445);
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std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
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std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;
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std::vector<ImpactSensorInfo> sensors;
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bool result = sdp.getSensors(sensors);
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if (result)
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{
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for (std::vector<ImpactSensorInfo>::iterator it = sensors.begin();
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it != sensors.end(); ++it) {
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std::cout << "Sensor id : " << it->id << std::endl;
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if (it-
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>coreSensorType ==
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SensorTypeBumper) std::cout << "Sensor
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coreSensorType: Bumper" << std::endl;
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else if (it-
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>coreSensorType ==
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SensorTypeCliff)
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std::cout << "Sensor
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coreSensorType: Cliff" << std::endl;
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else if (it-
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>coreSensorType ==
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SensorTypeSonar)
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std::cout << "Sensor
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coreSensorType: Sonar" << std::endl;
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else if (it->coreSensorType == SensorTypeMagTapeDetector) std::cout << "Sensor coreSensorType: MagTapeDetector" << std::endl; else return 1; if (it->type == ImpactSensorTypeAnalog)
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std::cout << "Sensor Type: Analog" << std::endl;
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else if (it->type == ImpactSensorTypeDigital)
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std::cout << "Sensor Type: Digital" << std::endl;
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else return 1;
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std::cout << "Sensor Position: ( " << it->pose.x() << " , " << it->pose.y() << " , " <<
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it->pose.z() << " ) ; Yaw = " << it->pose.yaw() << std::endl;
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ImpactSensorValue value;
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sdp.getSensorValue(it->id, value);
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std::cout << "Sensor Value : " << value.value<< std::endl;
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std::cout<<std::endl; } }